I am currently building MAVROS from source (for various reasons) for a Docker image, targeting arm64 systems using GitHub Actions. Due to long compilation times, I’m observing that the job times out (the timeout for GitHub Actions jobs is 6 hours for GitHub hosted runners). A local test indicates that the build for arm64 systems takes ~9 hours total. This was surprising to us, as we’ve seen that the Bloom build on Jenkins takes ~1 hour. I was wondering if there are any steps/optimizations that we might have missed in building MAVROS? Below are the relevant steps from the Dockerfile that we are currently using:
# Manually install MAVROS from source
WORKDIR $USER_WORKSPACE/src/
ARG MAVROS_RELEASE=ros2
ARG MAVLINK_RELEASE=release/rolling/mavlink
RUN git clone --depth 1 -b ${MAVROS_RELEASE} https://github.com/mavlink/mavros.git
RUN git clone --depth 1 --recursive -b ${MAVLINK_RELEASE} https://github.com/mavlink/mavlink-gbp-release.git mavlink
# Build workspace
RUN . "/opt/ros/${ROS_DISTRO}/setup.sh" \
&& colcon build